Projective rectification from the fundamental matrix

This paper describes a direct, self-contained method for planar image rectification of stereo pairs. The method is based solely on an examination of the Fundamental matrix, where an improved method is given for the derivation of two projective transformations that horizontally align all the epipolar...

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Bibliographic Details
Published in:Image and vision computing 2005-07, Vol.23 (7), p.643-650
Main Authors: Mallon, John, Whelan, Paul F.
Format: Article
Language:English
Subjects:
Distortion minimisation
Fundamental matrix
Homography
Projective rectification
Stereo vision
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Summary:This paper describes a direct, self-contained method for planar image rectification of stereo pairs. The method is based solely on an examination of the Fundamental matrix, where an improved method is given for the derivation of two projective transformations that horizontally align all the epipolar projections. A novel approach is proposed to uniquely optimise each transform in order to minimise perspective distortions. This ensures the rectified images resemble the original images as closely as possible. Detailed results show that the rectification precision exactly matches the estimation error of the Fundamental matrix. In tests the remaining perspective distortion offers on average less than one percent viewpoint distortion. Both these factors offer superior robustness and performance compared with existing techniques.
ISSN:0262-8856
1872-8138
DOI:10.1016/j.imavis.2005.03.002